method of piloting a rotary-wing drone with automatic stabilization of hovering flight

Abstract

This method, applicable in particular to radio-controlled toys comprises the operations consisting in: fitting the drone with a telemeter and a video camera; acquiring the altitude of the drone relative to the ground by means of a telemeter; acquiring the horizontal speed of the drone; and automatically stabilizing the drone in hovering by: servo-controlling the vertical thrust force of the drone so as to stabilize the altitude acquired by the telemeter; and servo-controlling the horizontal thrust force of the drone so as to obtain zero horizontal speed. The video camera is a front-sight camera pointing towards the front of the drone; and the horizontal speed of the drone is acquired from a plurality of video images captured by said front-sight camera.

1 . A method of piloting a rotary-wing drone with automatic stabilization of hovering, the method comprising the steps consisting in:
 fitting the drone with a telemeter and a video camera;   acquiring the altitude of the drone relative to the ground by means of a telemeter;   acquiring the horizontal speed of the drone; and   automatically stabilizing the drone in hovering by:
 servo-controlling the vertical thrust force of the drone so as to stabilize the altitude acquired by the telemeter; and 
 servo-controlling the horizontal thrust force of the drone so as to obtain zero horizontal speed; 
   the method being characterized in that:
 the video camera is a front-sight camera pointing towards the front of the drone; and 
 the horizontal speed of the drone is acquired from a plurality of video images captured by said front-sight camera. 
   
     
     
         2 . A method of piloting a drone with automatic stabilization according to  claim 1 , the method being characterized in that it further comprises the operations consisting in:
 defining elementary piloting functions, each elementary piloting function being suitable for determining flight parameters to be executed by a set of actuators of said drone so as to perform said elementary piloting function;   providing a user with activation means for activating said elementary piloting functions; and   the user piloting the drone by actuating said activation means for activating elementary piloting functions, with the drone being placed automatically in stabilized hovering flight whenever no function is being activated.   
     
     
         3 . A method of piloting a drone with automatic stabilization according to  claim 2 , wherein said elementary piloting functions comprise the following actions: move up; move down; turn right; turn left; move forwards; reverse. 
     
     
         4 . A method of piloting a drone with automatic stabilization according to  claim 3 , wherein said elementary piloting functions also comprise: move left in horizontal translation; move right in horizontal translation. 
     
     
         5 . A method of piloting a drone with automatic stabilization according to  claim 2 , wherein said activation means are constituted by keys of a piloting box. 
     
     
         6 . A method of piloting a drone with automatic stabilization according to  claim 2 , wherein said activation means are constituted by traces drawn by a stylus on a touch-sensitive surface of a piloting box. 
     
     
         7 . A method of piloting a drone with automatic stabilization according to  claim 2 , wherein said activation means are multi-action means suitable for engaging, setting, and stopping associated elementary piloting functions. 
     
     
         8 . A method of piloting a drone with automatic stabilization according to  claim 2 , wherein said activation means also comprise means for activating automatic sequences. 
     
     
         9 . A method of piloting a drone with automatic stabilization according to  claim 8 , wherein said automatic sequences comprise the drone taking off and landing. 
     
     
         10 . A rotary-wing drone comprising:
 a telemeter and a video camera;   means for acquiring the altitude of the drone relative to the ground by means of the telemeter;   means for acquiring the horizontal speed of the drone; and   a system for automatically stabilizing hovering, the system comprising:
 servo-controlling the vertical thrust force of the drone so as to stabilize the altitude acquired by the telemeter; and 
 servo-controlling the horizontal thrust force of the drone so as to obtain zero horizontal speed; 
   the drone being characterized in that:
 the video camera is a front-sight video camera pointing towards the front of the drone; and 
 the means for acquiring the horizontal speed of the drone are means for acquiring said speed from a plurality of video images captured by said front-sight camera. 
   
     
     
         11 . A piloting assembly, characterized in that it comprises:
 a rotary-wing drone according to  claim 10 ; and   a piloting box comprising means for activating elementary piloting functions;   each elementary piloting function being suitable for determining flight parameters to be executed by a set of actuators of said drone so as to implement said elementary piloting function; and   whenever no function is being activated, the drone is automatically placed in stabilized hovering flight by means of the system for automatically stabilizing hovering flight of the drone.   
     
     
         12 . A piloting box for a rotary-wing drone according to  claim 10 , said piloting box being characterized in that it comprises means for activating elementary piloting functions;
 each elementary piloting function being suitable for determining flight parameters to be executed by a set of actuators of said drone so as to implement said elementary piloting function; and   whenever no function is being activated, the drone is automatically placed in stabilized hovering flight.